AIDA is a study case for model based system engineering, made by MOISE project. This project contains the simulation model of AIDA (made with SimulationX in Modelica)
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133 KiB

// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model QuadcopterModel "Quadcopter model"
Modelica.Blocks.Interfaces.RealInput ThrottleCommand1 "Throttle command 1" annotation(Placement(
transformation(extent={{-135,35},{-95,75}}),
iconTransformation(extent={{-120,55},{-80,95}})));
Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation(Placement(
transformation(extent={{20,-25},{40,-5}}),
iconTransformation(extent={{90,-110},{110,-90}})));
Modelica.Blocks.Interfaces.RealInput ThrottleCommand2 "Throttle command 2" annotation(Placement(
transformation(extent={{-135,10},{-95,50}}),
iconTransformation(extent={{-120,5},{-80,45}})));
Modelica.Blocks.Interfaces.RealInput ThrottleCommand3 "Throttle command 2" annotation(Placement(
transformation(extent={{-135,-15},{-95,25}}),
iconTransformation(extent={{-120,-45},{-80,-5}})));
Modelica.Blocks.Interfaces.RealInput ThrottleCommand4 "Throttle command 4" annotation(Placement(
transformation(extent={{-135,-40},{-95,0}}),
iconTransformation(extent={{-120,-95},{-80,-55}})));
Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3](
quantity="Mechanics.Rotation.RotVelocity",
displayUnit="rad/s") "Angular velocities" annotation(Placement(
transformation(extent={{40,25},{60,45}}),
iconTransformation(extent={{90,90},{110,110}})));
Modelica.Blocks.Interfaces.RealOutput Attitude[3](
quantity="Mechanics.Rotation.Angle",
displayUnit="rad") "Attitude" annotation(Placement(
transformation(extent={{105,35},{125,55}}),
iconTransformation(extent={{90,40},{110,60}})));
Modelica.Blocks.Interfaces.RealOutput Position[3](
quantity="Mechanics.Translation.Displace",
displayUnit="m") "Position" annotation(Placement(
transformation(extent={{105,-20},{125,0}}),
iconTransformation(extent={{90,-10},{110,10}})));
Modelica.Blocks.Interfaces.RealOutput Speed[3](
quantity="Mechanics.Translation.Velocity",
displayUnit="m/s") "Speed" annotation(Placement(
transformation(extent={{40,-10},{60,10}}),
iconTransformation(extent={{90,-60},{110,-40}})));
RigidBodyKinematicModel rigidBodyKinematicModel1 annotation(Placement(transformation(extent={{65,5},{85,25}})));
MotorPropellerModel motorPropellerModel1(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,40},{-70,65}})));
MotorPropellerModel motorPropellerModel2(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,15},{-70,40}})));
MotorPropellerModel motorPropellerModel3(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-10},{-70,15}})));
MotorPropellerModel motorPropellerModel4(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-35},{-70,-10}})));
RigidBodyDynamicModel rigidBodyDynamicModel1 annotation(Placement(transformation(extent={{-10,5},{10,25}})));
ControlEffectivenessModel controlEffectivenessModel1 annotation(Placement(transformation(extent={{-45,5},{-25,30}})));
drone_feets drone_feets1 annotation(Placement(transformation(extent={{60,-45},{40,-25}})));
Modelica.Blocks.Sources.Constant Fx(k=0) annotation(Placement(transformation(extent={{-40,-35},{-20,-15}})));
Modelica.Blocks.Sources.Constant Fy(k=0) annotation(Placement(transformation(extent={{-40,-65},{-20,-45}})));
initial equation
der(Position[1])=0;
der(Position[2])=0;
der(Position[3])=0;
equation
connect(rigidBodyKinematicModel1.Attitude[:],Attitude[:]) annotation(Line(
points={{85,20},{90,20},{110,20},{110,45},{115,45}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyKinematicModel1.Position[:],Position[:]) annotation(Line(
points={{85,10},{90,10},{110,10},{110,-10},{115,-10}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyKinematicModel1.Attitude[:],rigidBodyKinematicModel1.AttitudeFB[:]) annotation(Line(
points={{85,20},{90,20},{90,35},{70,35},{70,25}},
color={0,0,127},
thickness=0.0625));
connect(motorPropellerModel4.ThrottleCommandK,ThrottleCommand4) annotation(Line(
points={{-90,-22.7},{-95,-22.7},{-110,-22.7},{-110,-20},{-115,-20}},
color={0,0,127},
thickness=0.0625));
connect(motorPropellerModel3.ThrottleCommandK,ThrottleCommand3) annotation(Line(
points={{-90,2.3},{-95,2.3},{-110,2.3},{-110,5},{-115,5}},
color={0,0,127},
thickness=0.0625));
connect(motorPropellerModel2.ThrottleCommandK,ThrottleCommand2) annotation(Line(
points={{-90,27.3},{-95,27.3},{-110,27.3},{-110,30},{-115,30}},
color={0,0,127},
thickness=0.0625));
connect(motorPropellerModel1.ThrottleCommandK,ThrottleCommand1) annotation(Line(
points={{-90,52.3},{-95,52.3},{-110,52.3},{-110,55},{-115,55}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyDynamicModel1.DroneAngularVelocities[:],AngularVelocities[:]) annotation(Line(
points={{10,20},{15,20},{45,20},{45,35},{50,35}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyDynamicModel1.DroneVelocity[:],Speed[:]) annotation(Line(
points={{10,15},{15,15},{45,15},{45,0},{50,0}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyKinematicModel1.DroneAngularVelocities[:],rigidBodyDynamicModel1.DroneAngularVelocities[:]) annotation(Line(
points={{65,20},{60,20},{15,20},{10,20}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyKinematicModel1.Velocity[:],rigidBodyDynamicModel1.DroneVelocity[:]) annotation(Line(
points={{65,10},{60,10},{15,10},{15,15},{10,15}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyDynamicModel1.Attitude[:],rigidBodyKinematicModel1.Attitude[:]) annotation(Line(
points={{0,25},{0,30},{90,30},{90,20},{85,20}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.TotalThrust,rigidBodyDynamicModel1.TotalThrust) annotation(Line(
points={{-25,25},{-20,25},{-15,25},{-15,20},{-10,20}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.Moments[:],rigidBodyDynamicModel1.Moments[:]) annotation(Line(
points={{-25,10},{-20,10},{-15,10},{-10,10}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.Motor1AngularVelocity,motorPropellerModel1.MotorKAngularVelocity) annotation(Line(
points={{-45,25},{-50,25},{-65,25},{-65,52.3},{-70,52.3}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.Motor2AngularVelocity,motorPropellerModel2.MotorKAngularVelocity) annotation(Line(
points={{-45,20},{-50,20},{-65,20},{-65,27.3},{-70,27.3}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.Motor3AngularVelocity,motorPropellerModel3.MotorKAngularVelocity) annotation(Line(
points={{-45,15},{-50,15},{-65,15},{-65,2.3},{-70,2.3}},
color={0,0,127},
thickness=0.0625));
connect(controlEffectivenessModel1.Motor4AngularVelocity,motorPropellerModel4.MotorKAngularVelocity) annotation(Line(
points={{-45,10},{-50,10},{-65,10},{-65,-22.7},{-70,-22.7}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyKinematicModel1.Position[3],drone_feets1.Position) annotation(Line(
points={{85,10.3},{90,10.3},{90,-35},{65,-35},{60,-35}},
color={0,0,127},
thickness=0.0625));
connect(drone_feets1.Force,rigidBodyDynamicModel1.ExternalForce[3]) annotation(Line(
points={{40,-35},{35,-35},{0.3,-35},{0.3,0},{0.3,5}},
color={0,0,127},
thickness=0.0625));
connect(Fx.y,rigidBodyDynamicModel1.ExternalForce[1]) annotation(Line(
points={{-19,-25},{-14,-25},{-0.7,-25},{-0.7,0},{-0.7,5}},
color={0,0,127},
thickness=0.0625));
connect(Fy.y,rigidBodyDynamicModel1.ExternalForce[2]) annotation(Line(
points={{-19,-55},{-14,-55},{0,-55},{0,0},{0,5}},
color={0,0,127},
thickness=0.0625));
connect(rigidBodyDynamicModel1.Accelerations[:],Accelerations[:]) annotation(Line(
points={{10,10},{15,10},{25,10},{25,-15},{30,-15}},
color={0,0,127},
thickness=0.0625));
annotation(
ThrottleCommand1(flags=2),
ThrottleCommand2(flags=2),
ThrottleCommand3(flags=2),
ThrottleCommand4(flags=2),
AngularVelocities(flags=2),
Attitude(flags=2),
Position(flags=2),
Speed(flags=2),
rigidBodyKinematicModel1(
DroneAngularVelocities(flags=2),
Velocity(flags=2),
AttitudeFB(flags=2),
Attitude(flags=2),
Position(flags=2),
computeDronePosition1(
DronVelocity(flags=2),
Position(flags=2),
integrator10(
u(flags=2),
y(flags=2)),
integrator11(
u(flags=2),
y(flags=2)),
integrator12(
u(flags=2),
y(flags=2))),
computeDroneAttitude1(
DroneAngularVelocities(flags=2),
AttitudeFB(flags=2),
Attitude(flags=2),
computationChangeAngleVelocity1(
DronAngularVelocities(flags=2),
Attitude(flags=2),
ChangeAngleVelocity(flags=2),
W(flags=2)),
integrator7(
u(flags=2),
y(flags=2)),
integrator8(
u(flags=2),
y(flags=2)),
integrator9(
u(flags=2),
y(flags=2)))),
motorPropellerModel1(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
createMotion1(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
W(
u(flags=2),
y(flags=2)),
wSSModel1(
CmdKIn(flags=2),
WSSOut(flags=2)))),
motorPropellerModel2(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
createMotion1(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
W(
u(flags=2),
y(flags=2)),
wSSModel1(
CmdKIn(flags=2),
WSSOut(flags=2)))),
motorPropellerModel3(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
createMotion1(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
W(
u(flags=2),
y(flags=2)),
wSSModel1(
CmdKIn(flags=2),
WSSOut(flags=2)))),
motorPropellerModel4(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
createMotion1(
ThrottleCommandK(flags=2),
MotorKAngularVelocity(flags=2),
W(
u(flags=2),
y(flags=2)),
wSSModel1(
CmdKIn(flags=2),
WSSOut(flags=2)))),
rigidBodyDynamicModel1(
Moments(flags=2),
TotalThrust(flags=2),
Attitude(flags=2),
DroneAngularVelocities(flags=2),
DroneVelocity(flags=2),
ExternalForce(flags=2),
computeDroneVelocity1(
TotalThrust(flags=2),
Attitude(flags=2),
DroneVelocity(flags=2),
ExternalForce(flags=2),
computationAccelerationModel1(
TotalThrust(flags=2),
Attitude(flags=2),
DroneAcceleration(flags=2),
ExternalForce(flags=2),
Reb(flags=2),
Rz(flags=2),
Ry(flags=2),
Rx(flags=2)),
integrator4(
u(flags=2),
y(flags=2)),
integrator5(
u(flags=2),
y(flags=2)),
integrator6(
u(flags=2),
y(flags=2))),
computeDroneAngularsVelocities1(
Moments(flags=2),
DroneAngularVelocities(flags=2),
computationAngularAccelerationModel1(
Moments(flags=2),
DroneAngularAcceleration(flags=2),
invJ(flags=2)),
integrator1(
u(flags=2),
y(flags=2)),
integrator2(
u(flags=2),
y(flags=2)),
integrator3(
u(flags=2),
y(flags=2)))),
controlEffectivenessModel1(
Motor1AngularVelocity(flags=2),
Motor2AngularVelocity(flags=2),
Motor3AngularVelocity(flags=2),
Motor4AngularVelocity(flags=2),
TotalThrust(flags=2),
Moments(flags=2),
computeMoments1(
Motor1AngularVelocity(flags=2),
Motor2AngularVelocity(flags=2),
Motor3AngularVelocity(flags=2),
Motor4AngularVelocity(flags=2),
Moments(flags=2)),
computeTotalThrust1(
Motor1AngularVelocity(flags=2),
Motor2AngularVelocity(flags=2),
Motor3AngularVelocity(flags=2),
Motor4AngularVelocity(flags=2),
TotalThrust(flags=2))),
drone_feets1(
Position(flags=2),
Force(flags=2)),
Fx(y(flags=2)),
Fy(y(flags=2)),
Icon(
coordinateSystem(extent={{-100,-150},{100,150}}),
graphics={
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extent={{-100,-100},{100,100}}),
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6KGHCjz++ONXCDLPiRyGyWQymUwmk+lU1Lhx435L9rMgMP/OnTuLCAgrChxbCBJf37p16xR9Xqvp
DtleQaKDxk8//TTND8UHLA4YMMAZ87K0QYMGpQ0ePPiQbPOwYcPe6NmzZ6VWrVqdG9mlyWQymUwm
k+l0FF5Gkly2bNlSSlDYTHD4kqYjZdM1v1bTHRMnTtzbr1+/wwLF1DfffNPbUX3+uW/fvrv79Omz
U9PNsg8030LrWltEk8lkMplMpjNFQRD8NgKM+QWHtwgSWwCNspGTJk2aLjBc9/rrr38l2yEY3CFI
3CSbKxur7wZr2lPTlpoW7Natm3kTTSaTyWQymc5EMVY0fS7Onz/fQeOHH36Il/AlWYJAcFDfvn0H
ar6n5h/WtLqmxRMSEgoMGjTI2iKaTCaTyWQynS0CGj/66KNLBIT5BYFF33zzzZsxwHDEiBFX0eYx
sqrJZDKZTCaTyWQymUwmk8lkMplMJpPJZDKZTCaTyWQymUwmk8lkMplMJpPJZDKZTCZTPPVf//X/
B9LbQ9NJoGs0AAAAAElFTkSuQmCC",
extent={{-100,-52.6},{100,52.6}})}),
experiment(
StopTime=1,
StartTime=0,
Interval=0.002,
MaxInterval="0.001"));
end QuadcopterModel;